Monocular Camera Calibration for Autonomous Driving — a comparative study
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Outros Autores: | , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.8/5000 |
Resumo: | Autonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications. |
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Monocular Camera Calibration for Autonomous Driving — a comparative studyAutonomous DrivingCamera CalibrationRoboticsAutonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications.Institute of Electrical and Electronics EngineersIC-OnlineMartins, Pedro FilipeCostelha, HugoBento, Luís CondeNeves, Carlos2020-07-08T13:47:38Z2020-04-152020-04-15T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.8/5000engP. F. Martins, H. Costelha, L. C. Bento and C. Neves, "Monocular Camera Calibration for Autonomous Driving — a comparative study," 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Ponta Delgada, Portugal, 2020, pp. 306-311, doi: 10.1109/ICARSC49921.2020.9096104.978-1-7281-7078-710.1109/ICARSC49921.2020.9096104metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-01-17T15:50:17Zoai:iconline.ipleiria.pt:10400.8/5000Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T01:48:39.173256Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
title |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
spellingShingle |
Monocular Camera Calibration for Autonomous Driving — a comparative study Martins, Pedro Filipe Autonomous Driving Camera Calibration Robotics |
title_short |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
title_full |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
title_fullStr |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
title_full_unstemmed |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
title_sort |
Monocular Camera Calibration for Autonomous Driving — a comparative study |
author |
Martins, Pedro Filipe |
author_facet |
Martins, Pedro Filipe Costelha, Hugo Bento, Luís Conde Neves, Carlos |
author_role |
author |
author2 |
Costelha, Hugo Bento, Luís Conde Neves, Carlos |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
IC-Online |
dc.contributor.author.fl_str_mv |
Martins, Pedro Filipe Costelha, Hugo Bento, Luís Conde Neves, Carlos |
dc.subject.por.fl_str_mv |
Autonomous Driving Camera Calibration Robotics |
topic |
Autonomous Driving Camera Calibration Robotics |
description |
Autonomous driving is currently a widely researched topic worldwide. With a large research effort being taken by industrial research units in the automotive sector, it is no longer exclusive to academic research labs. Essential to this ongoing effort towards level-5 vehicle autonomy, are the sensors used for tracking and detection, mainly lasers, radars and cameras. Most of the cameras for automotive application systems use wide-angle or fish-eye lens, which present high distortion levels. Cameras need to be calibrated for correct perception, particularly for capturing geometry features, or for distance-based calculations. This paper describes a case-study concerning monocular camera calibration for a small scale autonomous driving vehicle vision system. It describes the fundamentals on camera calibration and implementation, with results given for different lenses and distortion models. The aim of the paper is not only to provide a detailed and comprehensive review on the application of these calibration methods, but to serve also as a reference document for other researchers and developers starting to use monocular vision in their robotic applications. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020-07-08T13:47:38Z 2020-04-15 2020-04-15T00:00:00Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.8/5000 |
url |
http://hdl.handle.net/10400.8/5000 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
P. F. Martins, H. Costelha, L. C. Bento and C. Neves, "Monocular Camera Calibration for Autonomous Driving — a comparative study," 2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Ponta Delgada, Portugal, 2020, pp. 306-311, doi: 10.1109/ICARSC49921.2020.9096104. 978-1-7281-7078-7 10.1109/ICARSC49921.2020.9096104 |
dc.rights.driver.fl_str_mv |
metadata only access info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
metadata only access |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
publisher.none.fl_str_mv |
Institute of Electrical and Electronics Engineers |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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